ctrlX Automation How-to Technote

Commission FSoE ctrlX DRIVE under EtherCAT control (Beckhoff)

Toadwart
Member

In the following, we show to you how to commission Fail Safe over ETherCAT (FSoE) ctrlX DRIVE with EtherCAT control (in here Beckhoff is used).

1 General information

Topology

Toadwart_0-1640092319971.png

All the functions and screen shots are based on:

  • ctrlX Drive Engineering version 1.13
  • TwinCat 3
 

Used hardware:

  • Beckhoff EtherCAT coupler EK1914
  • Beckhoff EtherCAT communication interface EL6900
  • 2x Beckhoff EtherCAT 4-channel digital inputs
  • ctrlX DRIVE XCD2-W2323
  • Runtime / firmware version AXS-V0305
 
2 FSoE settings

Pre-requisite: The TwinCat 3 program has been started.

2.1 TwinCAT 3 drive implementation

Start NC default project and add an EtherCAT Master.

Toadwart_1-1640092944065.png

Add your ctrlX DRIVE(s) via Scan or manually.

Toadwart_2-1640092944073.png

Set EoE (32Bit EIDN Ethernet over EtherCAT connection) settings and activate configuration.

Toadwart_26-1640093235321.png

After activation Master should be in RUN mode and drives should be  found via EoE connection at ctrlX DRIVE Engineering.

Toadwart_27-1640093259657.png

2.2 Task settings

Add a new task

Toadwart_28-1640093442146.png

and add two Variables for ErrAck and Run!

Toadwart_30-1640093566852.png

2.3 Safety settings

Add a new Safety project with pre-configured inputs.

Toadwart_31-1640093761686.png

Select used modules (can also be deleted later) inside the project. Otherwise compile errors occur.

Toadwart_32-1640093785595.png

Set the FSoE addresses (same as ctrlX DRIVE settings).

Toadwart_33-1640093821983.png

Set the FSoE address of the used Terms.

Toadwart_34-1640093821987.png

Add function block e.g. safe decouple to Network. ErrAck and RunStop are linked automatically.

Toadwart_35-1640093876619.png

Create your inputs and assign them (example see below).

Toadwart_36-1640093924256.png

Link Run and ErrAck to Variables.

Toadwart_37-1640094063757.png

Choose your target system and adjust the Safe Addresses. 

Toadwart_38-1640094126622.png

After the correct selection "Download" window will open automatically. Input the serial number, the Password must be inserted later on.

Toadwart_39-1640094370360.png

If the verification works without error, download the project.

Toadwart_40-1640094471779.png 

After project download LED4 blinks -> force ErrAck, LED4 should lights up permanent.

Toadwart_41-1640094599609.png

Force also Run.

Toadwart_42-1640094682170.png

Possibly ErrAck has to be forced again to reach the correct (green) status of the group ports.

Toadwart_45-1640094854077.png

2.4 Safety settings of ctrlX DRIVE

Set FSoE slave address and profile type in ctrlX DRIVE Engineering same as in Twin Cat.

Toadwart_46-1640095024813.png

Toadwart_47-1640095024815.png

After the drive settings are adjusted possibly TwinCat needs to Restart/activate configuration again; iteration of force run/ErrAck might be necessary!

2.5 Test state machine

Finally the correct working of the state machine can be tested.

Opteration mode

Toadwart_50-1640095427363.png

SMES

 

Toadwart_51-1640095458631.png

SMST2

Toadwart_52-1640095496993.png

SMM(1)

Toadwart_53-1640095563244.png

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